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It is an interesting open problem to achieve adaptive prescribed-time control for strict-feedback systems with unknown and fast or even abrupt time-varying parameters. In this paper we present a solution with the aid of several design and…
Switched affine systems are often used to model and control complex dynamical systems that operate in multiple modes. However, uncertainties in the system matrices can challenge their stability and performance. This paper introduces a new…
This paper addresses the problem of exponential and accelerated finite-time, as well as nearly fixed-time, stabilization of switched linear MIMO systems. The proposed approach relies on a generalized homogenization framework for switched…
Grid-interfacing inverters act as the interface between renewable resources and the electric grid, and have the potential to offer fast and programmable controls compared to synchronous generators. With this flexibility there has been…
Safe obstacle avoidance and target set stabilization for nonlinear systems using reactive feedback control is under consideration. Based only on local information and by considering virtual dynamics, a safe path is generated online. The…
In this paper, we propose a Lyapunov-based reinforcement learning method for distributed control of nonlinear systems comprising interacting subsystems with guaranteed closed-loop stability. Specifically, we conduct a detailed stability…
This paper is concerned with model reference adaptive controller design for a class of nonlinear fractional order systems. Recent works on this topic rarely include direct methods and they are mostly based on indirect methods where the…
In this article, we present a new scheme that approximates unknown sensorimotor models of robots by using feedback signals only. The formulation of the uncalibrated sensor-based regulation problem is first formulated, then, we develop a…
The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…
We develop an indirect-adaptive model predictive control algorithm for uncertain linear systems subject to constraints. The system is modeled as a polytopic linear parameter varying system where the convex combination vector is constant but…
This work is devoted to the almost sure stabilization of adaptive control systems that involve an unknown Markov chain. The control system displays continuous dynamics represented by differential equations and discrete events given by a…
This work establishes the first rigorous stability guarantees for approximate predictors in delay-adaptive control of nonlinear systems, addressing a key challenge in practical implementations where exact predictors are unavailable. We…
This paper proposes a hierarchical Lyapunov-based adaptive cascade control scheme for a lower-limb exoskeleton with control saturation. The proposed approach is composed by two control levels with cascade structure. At the higher layer of…
This paper proposes a dynamic quantum-assisted co-design framework for nonlinear closed-loop systems in which controller parameters and Lyapunov-certificate parameters are redesigned jointly at successive decision epochs. Unlike…
Designing stabilizing controllers is a fundamental challenge in autonomous systems, particularly for high-dimensional, nonlinear systems that can hardly be accurately modeled with differential equations. The Lyapunov theory offers a…
This paper addresses the stabilization of linear systems with multiple time-varying input delays. In scenarios where neither the exact delays information nor their bound is known, we propose a class of linear time-varying state feedback…
This paper presents new results that allow one to address the discrete-time general nonlinear robust control problem. The uncertain system is described by a general nonlinear function set characterized by the nominal model and the…
This article presents an adaptive Super-Twisting Sliding Mode Control framework for uncertain first-order systems, with rate-bounded perturbations, where the bound is constant but unknown. Positive definite barrier functions, when used in…
Sliding mode control (SMC) is a robust and computationally efficient model-based controller design technique for highly nonlinear systems, in the presence of model and external uncertainties. However, the implementation of the conventional…
Large-scale interconnected networks, composed of multiple low-dimensional subsystems, serve as a crucial framework for modeling a wide range of real-world applications. Despite offering computational scalability, the inherent…